A Robust Controller of a Flexible Manipulator Using Genetic Algorithm

SUMMARYIn this paper, a composite controller is proposed for single-link flexible manipulators exposed to external tip force disturbances. In the proposed scheme, the extended Kalman filter is utilized to observe the environmental forces and the Lyapunov redesign robust controller is applied to control the destabilizing effect of the observation errors in noisy situations. The observed force can be utilized in different applications (such as tele-surgical robotics) in order to eliminate the necessity of additional force sensors. This fact is important for structural miniaturization and cost reduction. The main contributions of this paper are (1) proposing a disturbance observation technique for in-contact flexible link manipulators (note that the challenge of Jacobian singularity is studied as a possible diverging factor of the observation) and (2) proposing the composite robust controller to eliminate the destabilizing effect of estimation errors. The advantages of the proposed control scheme over the conventional techniques are analyzed. Simulation results are given for a single-link flexible manipulator to illustrate the effectiveness of the composite control technique and experimental results are given to validate the performance of the observation method.

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Robust Controller Identification for a Boost Type DC-DC Converter Using Genetic Algorithm

10.1109/iciinfs.2008.4798348 ◽

2008 ◽

Cited By ~ 3

Author(s):

K. Sundareswaran ◽

K.V.S. Manoj Kumar Vadali ◽

Shaik Khaled Nadeem ◽

H.N. Shyam

Keyword(s):

Genetic Algorithm ◽

Robust Controller

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Dynamics and Robust Control of a New Realizable Chaotic Nonlinear Model

Complexity ◽

10.1155/2021/6692369 ◽

2021 ◽

Vol 2021 ◽

pp. 1-17

Author(s):

M. Higazy ◽

Emad E. Mahmoud ◽

E. M. Khalil ◽

S. Abdel-Khalek ◽

S. M. Abo-Dahab ◽

...

Keyword(s):

Genetic Algorithm ◽

Graph Theory ◽

Robust Control ◽

Electronic Circuit ◽

Signal Flow Graph ◽

New Paradigm ◽

Robust Controller ◽

Flow Graph ◽

System States ◽

New System

We present a new viable nonlinear chaotic paradigm. This paradigm has four nonlinear terms. The essential features of the new paradigm have been investigated. Our new system is confirmed to have chaotic behaviors by calculating its Lyapunov exponents. The relations of the system states are displayed by a suggested new signal flow graph (SFG). The proposed SFG is discussed via some graph theory tools, and some of its hidden features are calculated. In addition, the system is realized via constructing its electronic circuit which helps in the real applications. Also, a robust controller for the system is designed with the aid of a genetic algorithm.

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